Abstract
In this article, we propose a low degree-of-freedom parallel mechanism known as the 2-UPS+U parallel structure. This mechanism features a double-triangle configuration and exhibits unique structural properties, resulting in a coupled system with multivariable input and output. In terms of kinematic analysis, Firstly, we establish the closed-loop directed transformation graph of the mechanism. Then, using the D-H method, we determine the position and orientation of the end-effector. Finally, we solve the inverse position problem of the mechanism through a geometric approach. Aiming at the common synchronous loop problem in hydraulic system, the control strategy of double hydraulic cylinder drive is designed. The validity of our kinematic analysis is confirmed by simulation models constructed in Adams simulation software which demonstrate consistent results with theoretical calculations, thus affirming its accuracy. The 2-UPS+U parallel mechanism finds common application in hydraulic drive units for hydraulic robotic arms. The findings from this research are highly significant as they contribute to enhancing control precision in hydraulic-driven joints.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Liang, X., Takeda, Y.: An iterative method for the inverse kinematics of lower-mobility parallel mechanism with three RS or SR chains based on kinematically equivalent mechanism. Mech. Mach. Theory 141, 40–51 (2019)
Wang, J., Wu, C., Liu, X.J.: Performance evaluation of parallel manipulators: Motion/force transmissibility and its index. Mech. Mach. Theory 45(10), 1462–1476 (2010)
Kong, X.W., Jaime, G.A., et al.: Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory. Mech. Mach. Theory 41(9), 1048–1061 (2006)
Huang, Z., Fang, Y.: Kinematic characteristics analysis of 3-DOF in-parallel actuated pyramid mechanisms. Mech. Mach. Theory 31(8), 1009–1018 (1996)
Huang, Z., Zhao, Y., Zhao, T.: Advanced Spatial Mechanism. Higher Education Press, Beijing (2006)
Joshi, S., Tsai, L.W.: Jacobian analysis of limited-DOF parallel manipulators. ASME J. Mech. Des. 124(2), 254–258 (2002)
Rico, J.M., Gallardo, J., et al.: Screw theory and higher order analysis of open serial and closed chains. Mech. Mach. Theory 34(4), 559–586 (1999)
Rico, J.M., Duffy, J.: Forward and inverse acceleration analyses of in-parallel manipulators. ASME J. Mech. Des. 122(3), 299–303 (2000)
Li, Y., Song, Y., et al.: Complete Jacobian matrix of a class of incompletely symmetrical parallel mechanisms with 4-DOF. Chin. J. Mech. Eng. 43(6), 37–40 (2007)
Shen, H., Zhao, Y., Li, J., Wu, G., Chablat, D.: A novel partially-decoupled translational parallel manipulator with symbolic kinematics, singularity identification and workspace determination. Mech. Mach. Theory 164, 1–15 (2021)
Shen, H., Tang, Y., Wu, G., Li, J., Li, T., Yang, T.: Design and analysis of a class of two-limb non-parasitic 2T1R parallel mechanism with decoupled motion and symbolic forward position solution - influence of optimal arrangement of limbs onto the kinematics, dynamics and stiffness. Mech. Mach. Theory 172, 1–27 (2022)
Lin, R., Guo, W., Cheng, S.S.: Type synthesis of 2R1T remote center of motion parallel mechanisms with a passive limb for minimally invasive surgical robot. Mech. Mach. Theory 172, 1–19 (2022)
Yaşır, A., Kiper, G., Can Dede, M.İ.: Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications. Mech. Mach. Theory 153, 1–17 (2020)
de la Torre, H., Rodriguez-Leal, E.: Instantaneous kinematics analysis via screw-theory of a novel 3-CRC parallel mechanism. Int. J. Adv. Rob. Syst. 13(3), 128 (2016)
Zhang, D., Xu, Y., Yao, J., Hu, B., Zhao, Y.: Kinematics, dynamics and stiffness analysis of a novel 3-DOF kinematically/actuation redundant planar parallel mechanism. Mech. Mach. Theory 116, 203–219 (2017)
Chen, Z., Wu, J., Liao, J., Wang, Y., Zhang, Y.: A dual-loop feedback trajectory tracking control for rock drilling hydraulically driven manipulator. J. Mech. Eng. Sci. 238(9), 3657–3677 (2024)
Cheng, M., Li, L., Ding, R., Xu, B.: Real-time anti-saturation flow optimization algorithm of the redundant hydraulic manipulator. Actuators 10(1), 11 (2021)
Xia, Y., Nie, Y., Chen, Z., Lyu, L., Hu, P.: Motion control of a hydraulic manipulator with adaptive nonlinear model compensation and comparative experiments. Machines 10(3), 214 (2022)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2025 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Nie, S. et al. (2025). Kinematic Analysis and Control Strategy Research of Hydraulic Robotic Arm Drive Module 2-UPS+U Parallel Mechanism. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15201. Springer, Singapore. https://doi.org/10.1007/978-981-96-0771-6_14
Download citation
DOI: https://doi.org/10.1007/978-981-96-0771-6_14
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-96-0770-9
Online ISBN: 978-981-96-0771-6
eBook Packages: Computer ScienceComputer Science (R0)